CN102175441A - Load simulator based on series-parallel mechanism - Google Patents
Load simulator based on series-parallel mechanism Download PDFInfo
- Publication number
- CN102175441A CN102175441A CN 201110032162 CN201110032162A CN102175441A CN 102175441 A CN102175441 A CN 102175441A CN 201110032162 CN201110032162 CN 201110032162 CN 201110032162 A CN201110032162 A CN 201110032162A CN 102175441 A CN102175441 A CN 102175441A
- Authority
- CN
- China
- Prior art keywords
- parallel
- chain component
- sleeve
- linear drives
- component
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Abstract
The invention discloses a load simulator based on a series-parallel mechanism, which consists of an in-series assembly (1), an in-parallel branched-chain assembly A (2), an in-parallel branched-chain assembly B (3), an in-parallel branched-chain assembly C (4) and a static platform assembly (5). Connecting rods at the upper ends of the in-parallel branched-chain assembly A (2), the in-parallel branched-chain assembly B (3), the in-parallel branched-chain assembly C (4) are installed on the static platform assembly (5); elastic plates at the lower ends of the in-parallel branched-chain assembly A (2), the in-parallel branched-chain assembly B (3), the in-parallel branched-chain assembly C (4) are installed on the sleeve of the in-series assembly (1); the motor base of the in-series assembly (1) is installed on the static platform assembly (5); and the sleeve of the in-series assembly (1) is respectively connected with the elastic plates of the in-parallel branched-chain assembly A (2), the in-parallel branched-chain assembly B (3), the in-parallel branched-chain assembly C (4). The load simulator is used for performance test for instruments and equipment; in addition, the load simulator has the ability of combined loading of loads in various directions, and the simulator is realized by the series-parallel connection of in-series mechanisms and in-parallel mechanisms.
Description
Technical field
The present invention relates to a kind of load simulator that is used for the instrument and equipment performance test based on hybrid mechanism.
Background technology
Instrument and equipment has been the gordian technique of industrial circle since lasting being subjected to performance test under the composite load situation, and it will greatly influence the stability of tested instrument and equipment, reliability, rapidity etc. being subjected to performance under the composite load.
Existing load simulator majority concentrates on independent moment of flexure, the loading of moment of torsion separately, the compound loading of rarely seen moment of flexure to instrument and equipment, moment of torsion, axial force.The loading equipemtn of moment of flexure, independent moment of torsion can only load to moment folk prescription separately.
Summary of the invention
The purpose of this invention is to provide a kind of load simulator based on hybrid mechanism, this simulator is that a kind of non-single moment of flexure, moment of torsion or axial force load, but the load simulator with moment of flexure, moment of torsion, axial force compound loading ability.The 3-RPS mechanism of load simulator of the present invention is a kind of zero twist mechanism, and the 3-RPS parallel institution has, and two vertical axis rotate and move 3 degree of freedom along vertical upper mounting plate plane axis in upper mounting plate.Under the situation of fine motion, utilize moving of parallel institution, can apply axial pulling force or thrust for being loaded the parts axle; And utilize the rotation of parallel institution, can apply moment of flexure for being loaded the parts axle.Axial force load with the moment of flexure loading between can realize mutual decoupling zero, can be independent or compound putting on be loaded on the parts axle.And 3-RPS mechanism links to each other by a revolute pair between the side chain with series connection, the series connection side chain has six-freedom degree, 3-RPS mechanism and the mutual decoupling zero of connecting and loading by the loading of sleeve assembly (comprising upper end cover 106, sleeve 107, bottom end cover 108, A angular contact ball bearing 109 and B angular contact ball bearing 110 in the series component 1) realization moment of torsion and moment of flexure/axial force between the side chain.
A kind of load simulator of the present invention based on hybrid mechanism, this load simulator is made up of series component (1), an A chain component (2) in parallel, a B chain component (3) in parallel, a C chain component (4) in parallel and silent flatform assembly (5); The last end link of an A chain component (2) in parallel, a B chain component (3) in parallel and a C chain component (4) in parallel is installed on the silent flatform assembly (5), and the lower end elastic plate of an A chain component (2) in parallel, a B chain component (3) in parallel and a C chain component (4) in parallel is installed on the sleeve of series component (1); The motor cabinet of series component (1) is installed on the silent flatform assembly (5), and the sleeve of series component (1) is connected with the elastic plate of an A chain component (2) in parallel, a B chain component (3) in parallel and a C chain component (4) in parallel.
The advantage that the present invention is based on the load simulator of hybrid mechanism is:
1. load simulator of the present invention is a kind of equipment of single or compound loading of moment of flexure, axial force and the moment of torsion that comprises flexible member, and this equipment is applied widely than single moment of flexure, moment of torsion, axial force loading equipemtn, highly versatile; And with respect to sextuple power/moment loading equipemtn, its loading accuracy height reduces redundant degree of freedom.
2. three parallel connections are propped up and are adopted a pull pressure sensor to link to each other with ball bearing in the chain component respectively, and the pressure and the power compositional rule of utilization of testing each side chain in parallel respectively calculate terminal moment of flexure and axial force; Because the pull pressure sensor precision is very high, can obtain very high moment of flexure/axial force loading accuracy.
3. the Hooke's hinge in the serial mechanism can reach higher processing precision, the hysterisis error in the time of can reducing moment of torsion control significantly; Simultaneously, an end of Hooke's hinge and an end of elastic rod flexibly connect, and when having guaranteed that also moment of flexure/axial force loads, realize that by the axial float of elastic rod moment of flexure/axial force loads the effective decoupling zero that loads with moment of torsion.
4. because load simulator based on ripe parallel institution theory and Theory of Automatic Control, makes this simulator have good controllability, destructive, higher economical, round-the-clock property and the advantage simple to operation of nothing.
5. the hybrid mechanism that load simulator of the present invention adopts serial mechanism and parallel institution to constitute has reduced occupation space greatly, has compact conformation, reduces manufacture cost and other advantages.
Description of drawings
Fig. 1 is the structural drawing of compound loading test unit of the present invention.
Fig. 2 is the structural drawing of series component of the present invention.
Fig. 2 A is the exploded view of series component of the present invention.
Fig. 3 is the structural drawing of an A of the present invention chain component in parallel.
Fig. 3 A is the exploded view of an A of the present invention chain component in parallel.
Fig. 3 B is the exploded view of a B of the present invention chain component in parallel.
Fig. 3 C is the exploded view of a C of the present invention chain component in parallel.
Fig. 4 is the structural drawing of silent flatform of the present invention.
Fig. 4 A is the synoptic diagram that cooperates of A revolute pair web member and A linear drives part in the silent flatform of the present invention.
：1. 101. 102. 102A.102B.A 102C.B 103.A104.B 105. 105A. 106. 107.107A. 107B. 107C. 17A.A17B.B 108. 109.A110.B 2.A 201.A 201A.A201B.A 203.A 204.A204A.A 205.A 3.B301.B 301A.B 303.B304.B 304A.B 305.B4.C 401.C 401A.C403.C 404.C 404A.C 405.C5. 501. 501A. 502.A502A.A 502B.A 502C.B 503.B503A.B 504.C 504A.C
Embodiment
The present invention is described in further detail below in conjunction with accompanying drawing.
Load simulator based on hybrid mechanism of the present invention is conceived substantially: 3-RPS (3-Revolute-Prismatic-Spherical, translation is 3-revolute pair-moving sets-ball pair) mechanism is a kind of zero twist mechanism, and the 3-RPS parallel institution has, and two vertical axis rotate and move three degree of freedom along vertical upper mounting plate plane axis in upper mounting plate.Under the situation of fine motion, utilize moving of parallel institution, can apply axial pulling force or thrust for being loaded the parts axle; And utilize the rotation of parallel institution, can apply moment of flexure for being loaded the parts axle.Axial force load with the moment of flexure loading between can realize mutual decoupling zero, can be independent or compound putting on be loaded on the parts axle.And 3-RPS mechanism links to each other by a revolute pair between the side chain with series connection, the series connection side chain has six-freedom degree, 3-RPS mechanism and the mutual decoupling zero of connecting and loading by the loading of sleeve assembly (comprising upper end cover 106, sleeve 107, bottom end cover 108, A angular contact ball bearing 109 and B angular contact ball bearing 110 in the series component 1) realization moment of torsion and moment of flexure/axial force between the side chain.
Referring to shown in Figure 1, a kind of compound loading test unit based on hybrid mechanism of the present invention, this device include series component 1, an A chain component 2 in parallel, a B chain component 3 in parallel, C chain component 4 and silent flatform assembly 5 in parallel; Wherein, chain component 2 is propped up in the A parallel connection, a B chain component 3 in parallel is identical with the structure that chain component 4 is propped up in the C parallel connection.
(1) series component 1
Shown in Fig. 1, Fig. 2, Fig. 2 A, series component 1 includes elastic rod 101, loads axle 102, A Hooke's hinge 103, B Hooke's hinge 104, servomotor 105, upper end cover 106, sleeve 107, bottom end cover 108, A angular contact ball bearing 109 and B angular contact ball bearing 110;
Loading axle 102 is a ladder axle construction, and loading axle 102 is pin-and-hole section 102A, A Bearing Installation section 102B, B Bearing Installation section 102C from an end to the other end;
The middle part of sleeve 107 is manhole 107A, and the top of sleeve 107 outsides is outer toroid 107B, and the below of sleeve 107 outsides is triangle connecting plate 107C, and three links on the triangle connecting plate 107C are designated as A link, B link and C link respectively.
The casing of servomotor 105 is installed on the lower face 501A of silent flatform 5 by web joint 105A, the output shaft of servomotor 105 is connected on an end of A Hooke's hinge 103 by pin and pin-and-hole, one end of the other end of A Hooke's hinge 103 and elastic rod 101 flexibly connects, the other end of elastic rod 101 is connected on an end of B Hooke's hinge 104 by pin and pin-and-hole, and the other end of B Hooke's hinge 104 is connected with the pin-and-hole section 102A that loads axle 102 with the cooperation of pin-and-hole by pin; The flexible connection of one end of the other end of A Hooke's hinge 103 and elastic rod 101 has constituted an one-movement-freedom-degree.
Be connected with A angular contact ball bearing 109 on the A Bearing Installation section 102B of loading axle 102, be connected with B angular contact ball bearing 110 on the B Bearing Installation section 102C of loading axle 102, loading axle 102 outsides that are socketed with two bearings are equipped with sleeve 107, the upper end of sleeve 107 is by upper end cover 106 sealings, and the lower end of sleeve 107 is by bottom end cover 108 sealings;
The A link 17A of the triangle connecting plate 107C of sleeve 107 is connected with the other end of the A elastic plate 205 of an A chain component 2 in parallel;
The B link 17B of the triangle connecting plate 107C of sleeve 107 is connected with the other end of the B elastic plate 305 of a B chain component 3 in parallel;
The C link of the triangle connecting plate 107C of sleeve 107 (not shown among Fig. 2 A) is connected with the other end of the C elastic plate 405 of a C chain component 4 in parallel.
In the present invention, the motion of series component 1 is: servomotor 105 rotates, and drives elastic rod 101 by A Hooke's hinge 103 and rotates, and elastic rod 101 loads axle 102 by 104 drives of B Hooke's hinge and rotates.
In the present invention, the power source servomotor 105 in the series component 1 also can adopt torque motor to replace.
(2) an A chain component 2 in parallel
Shown in Fig. 3, Fig. 3 A, an A chain component 2 in parallel includes A linear drives part 201, A pull pressure sensor 203, A ball bearing 204 and A elastic plate 205;
One end of A linear drives part 201 is A annulus 201A, and the center of this A annulus 201A is A through hole 201B; The end of the other end of A linear drives part 201 is a thread segment, and this thread segment is connected in the threaded hole of A pull pressure sensor 203 1 ends, and the thread segment of A ball bearing 204 is installed in the threaded hole of A pull pressure sensor 203 other ends;
The A ball-and-socket web joint 204A of A ball bearing 204 is connected an end of A elastic plate 205, and the other end of A elastic plate 205 is connected on the A link 17A of triangle connecting plate 107C of sleeve 107 belows of series component 1.
In the present invention, the A linear drives part 201 in the A chain component 2 in parallel can replace with linear electric motors, electronic cylinder, hydraulic cylinder as the power source that loads.
Referring to shown in Figure 1, in the present invention, the kinematic relation of an A chain component 2 in parallel is: under the driving of A linear drives part 201, cause A ball bearing 204 to be pushed, the annulus end of A linear drives part 201 rotates around A revolute pair web member 502 simultaneously.
(3) a B chain component 3 in parallel
Shown in Fig. 1, Fig. 3 B, a B chain component 3 in parallel includes B linear drives part 301, B pull pressure sensor 303, B ball bearing 304 and B elastic plate 305;
One end of B linear drives part 301 is B annulus 301A, and the center of this B annulus 301A is B through hole (not shown among Fig. 3 B); The end of the other end of B linear drives part 301 is a thread segment, and this thread segment is connected in the threaded hole of B pull pressure sensor 303 1 ends, and the thread segment of B ball bearing 304 is installed in the threaded hole of B pull pressure sensor 303 other ends;
The B ball-and-socket web joint 304A of B ball bearing 304 is connected an end of B elastic plate 305, and the other end of B elastic plate 305 is connected on the B link 17B of triangle connecting plate 107C of sleeve 107 belows of series component 1.
In the present invention, the B linear drives part 301 in the B chain component 3 in parallel can replace with linear electric motors, electronic cylinder, hydraulic cylinder as the power source that loads.
In the present invention, the kinematic relation of a B chain component 3 in parallel is: under the driving of B linear drives part 301, cause B ball bearing 304 to be pushed, the annulus end of B linear drives part 301 rotates around B revolute pair web member 503 simultaneously.
(4) a C chain component 4 in parallel
Shown in Fig. 1, Fig. 3 C, a C chain component 4 in parallel includes C linear drives part 401, C pull pressure sensor 403, C ball bearing 404 and C elastic plate 405;
One end of C linear drives part 401 is C annulus 401A, and the center of this C annulus 401A is C through hole (not shown among Fig. 3 C); The end of the other end of C linear drives part 401 is a thread segment, and this thread segment is connected in the threaded hole of C pull pressure sensor 403 1 ends, and the thread segment of C ball bearing 404 is installed in the threaded hole of C pull pressure sensor 403 other ends;
The C ball-and-socket web joint 404A of C ball bearing 404 is connected an end of C elastic plate 405, and the other end of C elastic plate 405 is connected on the C link of triangle connecting plate 107C of sleeve 107 belows of series component 1.
In the present invention, the C linear drives part 401 in the C chain component 4 in parallel can replace with linear electric motors, electronic cylinder, hydraulic cylinder as the power source that loads.
In the present invention, the pull pressure sensor model of selecting for use the 701st research institute of company of Aerospace Science and Technology Corporation to produce is the BK-2FB-0.5t sensor.
In the present invention, A linear drives part 201, B linear drives part 301 and C linear drives part 401 are identity unit, choose the ECT09-B53R03PB-3220-100SJ00XX model that Kollmorgen company produces.
In the present invention, the kinematic relation of a C chain component 4 in parallel is: under the driving of C linear drives part 401, cause C ball bearing 404 to be pushed, the annulus end of C linear drives part 301 rotates around C revolute pair web member 504 simultaneously.
In the present invention, three parallel connections are propped up chain component (an A chain component 2 in parallel, a B chain component 3 in parallel, a C chain component 4 in parallel) and are coordinated under motion separately, and acting in conjunction is finished moment of flexure/axial force and loaded.
(5) the silent flatform assembly 5
Referring to Fig. 1, shown in Figure 4, silent flatform assembly 5 includes silent flatform 501, A revolute pair web member 502, B revolute pair web member 503, C revolute pair web member 504; Wherein, A revolute pair web member 502, B revolute pair web member 503 are identical with the structure of C revolute pair web member 504;
A revolute pair web member 502, B revolute pair web member 503 and C revolute pair web member 504 are installed on the lower face 501A of silent flatform 501 according to the triangular layout mode;
A revolute pair web member 502 is made of A bearing pin 502A, A back up pad 502B and B back up pad 502C, and has through hole on the A back up pad 502B, has through hole on the B back up pad 502C; Wherein, A back up pad 502B is identical with the structure of B back up pad 502C;
A back up pad 502B and B back up pad 502C are installed in parallel on the lower face 501A, and through hole A bearing pin 502A passes on A back up pad 502B and the B back up pad 502C through hole separately;
In the present invention, the installation of in parallel with A chain component 2 of A revolute pair web member 502 is closed and is: the A annulus 201A of the A linear drives part 201 of an A chain component 2 in parallel places between A back up pad 502B and the B back up pad 502C, and after passing through hole on the A back up pad 502B, A through hole 201B, through hole on the B back up pad 502C on the A annulus 201A in turn by the end of A bearing pin 502A, connect a nut in the end of A bearing pin 502A at last.
In like manner can get: being connected of the B annulus end of B linear drives part 301 in B bearing pin 503A and the B chain component 3 in parallel in the B revolute pair web member 503.
In like manner can get: being connected of the C annulus end of C linear drives part 401 in C bearing pin 504A and the C chain component 4 in parallel in the C revolute pair web member 504.
The action of load simulator of the present invention is:
Series component: servomotor 105 rotates, driving elastic rod 101 by A Hooke's hinge 103 rotates, elastic rod 101 drives by B Hooke's hinge 104 and loads axle 102 and rotate, when the output shaft that is loaded equipment with load axle when linking to each other, just apply torsion moment to and be loaded on the object axle.
Parallel component: under the driving of the A linear drives part 201 of in parallel chain component 2 of A, cause 204 motions of A ball bearing, the annulus of A linear drives part 201 upper ends rotates around A revolute pair web member 502 simultaneously, above-mentioned action synergy is applied to power on the A elastic plate 205, sleeve 107 in A elastic plate 205 and 1 series component is rigidly connected, and power is delivered on the sleeve 107; In like manner, B ball bearing 304 moves under the driving of the B linear drives part 301 of a B chain component 3 in parallel, the annulus end of B linear drives part 301 rotates around B revolute pair web member 503 simultaneously, above-mentioned action synergy is applied to power on the B elastic plate 305, B elastic plate 305 is rigidly connected with sleeve 107, and power is delivered on the sleeve 107; C ball bearing 404 moves under the driving of the C linear drives part 401 of a C chain component 4 in parallel, the annulus end of C linear drives part 401 rotates around C revolute pair web member 504 simultaneously, above-mentioned action synergy is applied to power on the C elastic plate 405, C elastic plate 405 is rigidly connected with sleeve 107, and power is delivered on the sleeve 107; Difference by (an A chain component 2 in parallel, a B chain component 3 in parallel, a C chain component 4 in parallel) three side chain motion amplitudes in parallel will produce independent or compound moment of flexure or axial force; Sleeve 107 by A angular contact ball bearing 109 and B angular contact ball bearing 110 with moment of flexure and axial force transmission to loading on the axle 102, when the output shaft that is loaded equipment with load axle 102 when linking to each other, moment of flexure and axial force will be applied to and be loaded on the object axle.
Moment of flexure among the present invention/axial force load mode is as follows: at 3-RPS (3-Revolute-Prismatic-Spherical, translation is 3-revolute pair-moving sets-ball pair) under the situation of mechanism's fine motion, mechanism's physical dimension is constant substantially, suppose that plane, 3 elastic plate place is identical with original state, still be in level, record the stressed of each side chain end points place by the pull pressure sensor that is equipped with respectively on three side chains, resolve moment of flexure/axial force that the moment of flexure/axial force that obtains is promptly regarded as simulator and applied.
Moment of torsion load mode among the present invention is as follows: adopt servomotor → Hooke's hinge → elastic rod → Hooke's hinge → loadings spool → be loaded this side chain of equipment output shaft can be independent moment of torsion is put on to be loaded on the parts output shaft.
Moment of torsion loads the independence that loads with moment of flexure/axial force, be the 3-RPS parallel institution and the decoupling zero of connecting between the side chain of shared same frame, be to realize by sleeve assembly (comprising upper end cover 106, sleeve 107, bottom end cover 108, A angular contact ball bearing 109 and B angular contact ball bearing 110 in the series component 1), when promptly this assembly can be implemented in moment of flexure and moment of torsion/axial force and loads simultaneously, both did not interact.
Another characteristics of the present invention are: because intercoupling of six-dimension force sensor very seriously causes the sensor test precision relatively poor, load link in moment of flexure/axial force, we adopt 3 pull pressure sensor: the pressure and the power compositional rule of utilization that A pull pressure sensor 203, B pull pressure sensor 303, C pull pressure sensor 403 are tested each side chain in parallel respectively calculate the terminal moment of flexure and the method for testing of axial force; In this method since indexs such as the linearity of pull pressure sensor, precision all far above six-dimension force sensor, and under the fine motion situation, the variation of mechanism size can be ignored again, therefore, can obtain the equipment of higher moment of flexure/axial force loading accuracy.
Loading among the present invention is to realize by the mode that rigid structure combines with flexible member, promptly the elastic deformation by flexible member applies required moment of flexure/moment of torsion/axial force, elastic link during moment of torsion loads is an elastic rod, elastic link during moment of flexure/axial force loads is an elastic plate, the loading that is incorporated as big rigid structure of elastic link provides may, elastic link is used for loading equipemtn and is loaded equipment room loading buffering, the high fdrequency component of filtering imposed load are provided simultaneously.
In the compound loading test unit based on hybrid mechanism of the present invention, contained multinomial advanced technologies such as parallel institution theory, Theory of Automatic Control, sensing testing technology, be a typical dynamo-electric integrated system.This device to test frequency band range is wide, can realize the compound loading of the dissimilar load of different directions, and has good controllability, do not have destructively, round-the-clock and simple to operation, and site test can obtain comprehensive complete test parameters relatively.
Claims (7)
1. load simulator based on hybrid mechanism, it is characterized in that: this load simulator is made up of series component (1), an A chain component (2) in parallel, a B chain component (3) in parallel, a C chain component (4) in parallel and silent flatform assembly (5), wherein, in parallel chain component (2) of A, a B chain component (3) in parallel and C structure of propping up chain component (4) in parallel is identical; The last end link of an A chain component (2) in parallel, a B chain component (3) in parallel and a C chain component (4) in parallel is installed on the silent flatform assembly (5), and the lower end elastic plate of an A chain component (2) in parallel, a B chain component (3) in parallel and a C chain component (4) in parallel is installed on the sleeve of series component (1); The motor cabinet of series component (1) is installed on the silent flatform assembly (5), and the sleeve of series component (1) is connected with the elastic plate of an A chain component (2) in parallel, a B chain component (3) in parallel and a C chain component (4) in parallel;
Series component (1) includes elastic rod (101), loads axle (102), A Hooke's hinge (103), B Hooke's hinge (104), servomotor (105), upper end cover (106), sleeve (107), bottom end cover (108), A angular contact ball bearing (109) and B angular contact ball bearing (110);
Loading axle (102) is a ladder axle construction, and loading axle (102) is pin-and-hole section (102A), A Bearing Installation section (102B), B Bearing Installation section (102C) from an end to the other end;
The middle part of sleeve (107) is manhole (107A), the outside top of sleeve (107) is outer toroid (107B), the outside below of sleeve (107) is triangle connecting plate (107C), and three links on the triangle connecting plate (107C) are designated as A link (17A), B link (17B) and C link respectively;
The casing of servomotor (105) is installed on the lower face (501A) of silent flatform (5) by web joint (105A), the output shaft of servomotor (105) is connected on an end of A Hooke's hinge (103) by pin and pin-and-hole, one end of the other end of A Hooke's hinge (103) and elastic rod (101) flexibly connects, the other end of elastic rod (101) is connected on an end of B Hooke's hinge (104) by pin and pin-and-hole, and the other end of B Hooke's hinge (104) is connected with the pin-and-hole section (102A) that loads axle (102) with the cooperation of pin-and-hole by pin; The flexible connection of one end of the other end of A Hooke's hinge (103) and elastic rod (101) has constituted an one-movement-freedom-degree;
Be socketed with A angular contact ball bearing (109) on the A Bearing Installation section (102B) of loading axle (102), be socketed with B angular contact ball bearing (110) on the B Bearing Installation section (102C) of loading axle (102), loading axle (102) outside that is socketed with two bearings is equipped with sleeve (107), the upper end of sleeve (107) is by upper end cover (106) sealing, and the lower end of sleeve (107) is sealed by bottom end cover (108);
The A link (17A) of the triangle connecting plate (107C) of sleeve (107) is connected with the other end of the A elastic plate (205) of an A chain component (2) in parallel;
The B link (17B) of the triangle connecting plate (107C) of sleeve (107) is connected with the other end of the B elastic plate (305) of a B chain component (3) in parallel;
The C link of the triangle connecting plate (107C) of sleeve (107) is connected with the other end of the C elastic plate (405) of a C chain component (4) in parallel;
An A chain component (2) in parallel includes A linear drives part (201), A pull pressure sensor (203), A ball bearing (204) and A elastic plate (205);
One end of A linear drives part (201) is A annulus (201A), and the center of this A annulus (201A) is A through hole (201B); The end of the other end of A linear drives part (201) is a thread segment, and this thread segment is connected in the threaded hole of A pull pressure sensor (203) one ends, and the thread segment of A ball bearing (204) is installed in the threaded hole of A pull pressure sensor (203) other end;
The A ball-and-socket web joint (204A) of A ball bearing (204) is connected an end of A elastic plate (205), and the other end of A elastic plate (205) is connected on the A link (17A) of triangle connecting plate 107C of sleeve (107) below of series component (1);
A B chain component (3) in parallel includes B linear drives part (301), B pull pressure sensor (303), B ball bearing (304) and B elastic plate (305);
One end of B linear drives part (301) is B annulus (301A), and the center of this B annulus is the B through hole; The end of the other end of B linear drives part (301) is a thread segment, and this thread segment is connected in the threaded hole of B pull pressure sensor (303) one ends, and the thread segment of B ball bearing (304) is installed in the threaded hole of B pull pressure sensor (303) other end;
The B ball-and-socket web joint (304A) of B ball bearing (304) is connected an end of B elastic plate (305), and the other end of B elastic plate (305) is connected on the B link (17B) of triangle connecting plate (107C) of sleeve (107) below of series component (1);
A C chain component (4) in parallel includes C linear drives part (401), C pull pressure sensor (403), C ball bearing (404) and C elastic plate (405);
One end of C linear drives part (401) is C annulus (401A), and the center of this C annulus (401A) is the C through hole; The end of the other end of C linear drives part (401) is a thread segment, and this thread segment is connected in the threaded hole of C pull pressure sensor (403) one ends, and the thread segment of C ball bearing (404) is installed in the threaded hole of C pull pressure sensor (403) other end;
The C ball-and-socket web joint (404A) of C ball bearing (404) is connected an end of C elastic plate (405), and the other end of C elastic plate (405) is connected on the C link of triangle connecting plate (107C) of sleeve (107) below of series component (1);
Silent flatform assembly (5) includes silent flatform (501), A revolute pair web member (502), B revolute pair web member (503), C revolute pair web member (504); Wherein, A revolute pair web member (502), B revolute pair web member (503) are identical with the structure of C revolute pair web member (504);
A revolute pair web member (502), B revolute pair web member (503) and C revolute pair web member (504) are installed on the lower face (501A) of silent flatform (501) according to the triangular layout mode;
A revolute pair web member (502) is made of A bearing pin (502A), A back up pad (502B) and B back up pad (502C), and has through hole on the A back up pad (502B), has through hole on the B back up pad (502C); Wherein, A back up pad (502B) is identical with the structure of B back up pad (502C);
A back up pad (502B) and B back up pad (502C) are installed in parallel on the lower face (501A), and through hole A bearing pin (502A) passes on A back up pad (502B) and the B back up pad (502C) through hole separately;
The installation of in parallel with A chain component (2) of A revolute pair web member (502) is closed and is: the A annulus (201A) of the A linear drives part (201) of an A chain component (2) in parallel places between A back up pad (502B) and the B back up pad (502C), and after passing through hole on the A back up pad (502B), A through hole (201B), through hole on the B back up pad (502C) on the A annulus (201A) in turn by an end of A bearing pin (502A), connect a nut in the end of A bearing pin (502A) at last;
In like manner can get: the B annulus end of B bearing pin (503A) and the middle B linear drives part (301) of a B chain component (3) in parallel is connected in the B revolute pair web member (503);
In like manner can get: the C annulus end of C bearing pin (504A) and the middle C linear drives part (401) of a C chain component (4) in parallel is connected in the C revolute pair web member (504).
2. the load simulator based on hybrid mechanism according to claim 1 is characterized in that: the power source servomotor (105) in the series component (1) also can adopt torque motor to replace.
3. the load simulator based on hybrid mechanism according to claim 1 is characterized in that: the A linear drives part (201) in the A chain component (2) in parallel can replace with linear electric motors, electronic cylinder, hydraulic cylinder as the power source that loads.
4. the load simulator based on hybrid mechanism according to claim 1 is characterized in that: the B linear drives part (301) in the B chain component (3) in parallel can replace with linear electric motors, electronic cylinder, hydraulic cylinder as the power source that loads.
5. the load simulator based on hybrid mechanism according to claim 1 is characterized in that: the C linear drives part (401) in the C chain component (4) in parallel can replace with linear electric motors, electronic cylinder, hydraulic cylinder as the power source that loads.
6. the load simulator based on hybrid mechanism according to claim 1, it is characterized in that: the servomotor (105) in the series component (1) rotates, driving elastic rod (101) by A Hooke's hinge (103) rotates, elastic rod (101) drives by B Hooke's hinge (104) and loads axle (102) rotation, when the output shaft that is loaded equipment with load axle when linking to each other, just apply torsion moment to and be loaded on the object axle.
7. the load simulator based on hybrid mechanism according to claim 1, it is characterized in that: under the driving of the A linear drives part (201) of in parallel chain component (2) of A, cause A ball bearing (204) motion, the annulus of A linear drives part (201) upper end rotates around A revolute pair web member (502) simultaneously, above-mentioned action synergy is applied to power on the A elastic plate (205), sleeve (107) in A elastic plate (205) and 1 series component is rigidly connected, and power is delivered on the sleeve (107); In like manner, B ball bearing (304) motion under the driving of the B linear drives part (301) of a B chain component (3) in parallel, the annulus end of B linear drives part (301) rotates around B revolute pair web member (503) simultaneously, above-mentioned action synergy is applied to power on the B elastic plate (305), B elastic plate (305) is rigidly connected with sleeve (107), and power is delivered on the sleeve (107); C ball bearing (404) motion under the driving of the C linear drives part (401) of a C chain component (4) in parallel, the annulus end of C linear drives part (401) rotates around C revolute pair web member (504) simultaneously, above-mentioned action synergy is applied to power on the C elastic plate (405), C elastic plate (405) is rigidly connected with sleeve (107), and power is delivered on the sleeve (107); Difference by an A chain component (2) in parallel, a B chain component (3) in parallel, C (4) three side chain motion amplitudes in parallel of chain component in parallel will produce independent or compound moment of flexure or axial force; Sleeve (107) arrives moment of flexure and axial force transmission on the loading axle (102) by A angular contact ball bearing (109) and B angular contact ball bearing (110), when the output shaft that is loaded equipment with load axle (102) when linking to each other, moment of flexure and axial force will be applied to and be loaded on the object axle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110032162XA CN102175441B (en) | 2011-01-28 | 2011-01-28 | Load simulator based on series-parallel mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110032162XA CN102175441B (en) | 2011-01-28 | 2011-01-28 | Load simulator based on series-parallel mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102175441A true CN102175441A (en) | 2011-09-07 |
| CN102175441B CN102175441B (en) | 2012-07-25 |
Family
ID=44518650
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201110032162XA Expired - Fee Related CN102175441B (en) | 2011-01-28 | 2011-01-28 | Load simulator based on series-parallel mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102175441B (en) |
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102750850A (en) * | 2012-06-06 | 2012-10-24 | 中国民航大学 | Three-rotational-freedom series-parallel driving mechanism |
| CN103050047A (en) * | 2012-12-11 | 2013-04-17 | 燕山大学 | Self-balanced parallel movement simulator of two-freedom degree closed loop |
| CN103162884A (en) * | 2013-02-04 | 2013-06-19 | 西北工业大学 | Device capable of measuring static torque |
| CN103177636A (en) * | 2013-03-26 | 2013-06-26 | 北京航空航天大学 | Reconfigurable flexible teaching aid for demonstrating the duality relation of freedom degree and restraint in mechanical principle teaching |
| CN103413474A (en) * | 2013-08-08 | 2013-11-27 | 北京航空航天大学 | Servo mechanism load simulator |
| CN103413489A (en) * | 2013-08-08 | 2013-11-27 | 北京航空航天大学 | Torque servo control loading load simulator |
| CN103884373A (en) * | 2014-02-26 | 2014-06-25 | 北京航空航天大学 | Composite load simulator for achieving multidimensional pure bending moment and tensile pressure |
| CN104627857A (en) * | 2015-02-16 | 2015-05-20 | 哈尔滨工程大学 | Active heave compensation experimental device |
| CN105356657A (en) * | 2015-12-14 | 2016-02-24 | 重庆东登科技有限公司 | Electric linear driver having antirust protection and controllable stroke |
| CN105429351A (en) * | 2015-12-14 | 2016-03-23 | 重庆东登科技有限公司 | Electric linear driver with controllable stroke |
| CN105729243A (en) * | 2016-04-27 | 2016-07-06 | 成都飞机工业（集团）有限责任公司 | Dynamic precision detection system with load |
| CN105842080A (en) * | 2016-03-17 | 2016-08-10 | 浙江大学 | Mechanical testing system for material with composite load in induction heating mode |
| CN106134859A (en) * | 2016-07-06 | 2016-11-23 | 巩莉 | A kind of agricultural product growing vegetables Intelligent watering manipulator |
| CN106840642A (en) * | 2017-04-01 | 2017-06-13 | 中北大学 | Restructural parallel/hybrid mechanism experimental provision component system |
| CN108838996A (en) * | 2018-07-03 | 2018-11-20 | 北京航空航天大学 | A kind of five degree of freedom serial parallel mechanism |
| CN110017977A (en) * | 2019-03-29 | 2019-07-16 | 航天科工防御技术研究试验中心 | A kind of component detection combination loading device and detection method |
| CN114199598A (en) * | 2021-11-19 | 2022-03-18 | 清华大学 | High-frequency cutting force dynamic simulation loading device |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2225705Y (en) * | 1995-01-28 | 1996-04-24 | 刘庆和 | Electric liquid load simulator |
| CN101532516A (en) * | 2009-04-10 | 2009-09-16 | 长春理工大学 | Device for simulating servo system load by electrohydraulic servo |
| CN201352254Y (en) * | 2009-01-23 | 2009-11-25 | 上海工程技术大学 | Motor load simulator |
| CN101865774A (en) * | 2010-05-14 | 2010-10-20 | 北京工业大学 | Multi-energy hybrid power comprehensive test device |
-
2011
- 2011-01-28 CN CN201110032162XA patent/CN102175441B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2225705Y (en) * | 1995-01-28 | 1996-04-24 | 刘庆和 | Electric liquid load simulator |
| CN201352254Y (en) * | 2009-01-23 | 2009-11-25 | 上海工程技术大学 | Motor load simulator |
| CN101532516A (en) * | 2009-04-10 | 2009-09-16 | 长春理工大学 | Device for simulating servo system load by electrohydraulic servo |
| CN101865774A (en) * | 2010-05-14 | 2010-10-20 | 北京工业大学 | Multi-energy hybrid power comprehensive test device |
Cited By (23)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102750850A (en) * | 2012-06-06 | 2012-10-24 | 中国民航大学 | Three-rotational-freedom series-parallel driving mechanism |
| CN103050047A (en) * | 2012-12-11 | 2013-04-17 | 燕山大学 | Self-balanced parallel movement simulator of two-freedom degree closed loop |
| CN103050047B (en) * | 2012-12-11 | 2014-12-24 | 燕山大学 | Self-balanced parallel movement simulator of two-freedom degree closed loop |
| CN103162884A (en) * | 2013-02-04 | 2013-06-19 | 西北工业大学 | Device capable of measuring static torque |
| CN103177636A (en) * | 2013-03-26 | 2013-06-26 | 北京航空航天大学 | Reconfigurable flexible teaching aid for demonstrating the duality relation of freedom degree and restraint in mechanical principle teaching |
| CN103177636B (en) * | 2013-03-26 | 2014-10-08 | 北京航空航天大学 | Reconfigurable flexible teaching aid for demonstrating the duality relation of freedom degree and restraint in mechanical principle teaching |
| CN103413474A (en) * | 2013-08-08 | 2013-11-27 | 北京航空航天大学 | Servo mechanism load simulator |
| CN103413489A (en) * | 2013-08-08 | 2013-11-27 | 北京航空航天大学 | Torque servo control loading load simulator |
| CN103884373B (en) * | 2014-02-26 | 2016-11-23 | 北京航空航天大学 | A kind of composite load simulator realizing multidimensional Based on Pure Bending Moment and pressure |
| CN103884373A (en) * | 2014-02-26 | 2014-06-25 | 北京航空航天大学 | Composite load simulator for achieving multidimensional pure bending moment and tensile pressure |
| CN104627857A (en) * | 2015-02-16 | 2015-05-20 | 哈尔滨工程大学 | Active heave compensation experimental device |
| CN105356657A (en) * | 2015-12-14 | 2016-02-24 | 重庆东登科技有限公司 | Electric linear driver having antirust protection and controllable stroke |
| CN105429351A (en) * | 2015-12-14 | 2016-03-23 | 重庆东登科技有限公司 | Electric linear driver with controllable stroke |
| CN105842080A (en) * | 2016-03-17 | 2016-08-10 | 浙江大学 | Mechanical testing system for material with composite load in induction heating mode |
| CN105842080B (en) * | 2016-03-17 | 2019-11-29 | 浙江大学 | Combined load Material mechanics test system under a kind of induction heating mode |
| CN105729243A (en) * | 2016-04-27 | 2016-07-06 | 成都飞机工业（集团）有限责任公司 | Dynamic precision detection system with load |
| CN106134859A (en) * | 2016-07-06 | 2016-11-23 | 巩莉 | A kind of agricultural product growing vegetables Intelligent watering manipulator |
| CN106840642A (en) * | 2017-04-01 | 2017-06-13 | 中北大学 | Restructural parallel/hybrid mechanism experimental provision component system |
| CN108838996A (en) * | 2018-07-03 | 2018-11-20 | 北京航空航天大学 | A kind of five degree of freedom serial parallel mechanism |
| CN110017977A (en) * | 2019-03-29 | 2019-07-16 | 航天科工防御技术研究试验中心 | A kind of component detection combination loading device and detection method |
| CN110017977B (en) * | 2019-03-29 | 2021-02-26 | 航天科工防御技术研究试验中心 | Component detection combined loading device and detection method |
| CN114199598A (en) * | 2021-11-19 | 2022-03-18 | 清华大学 | High-frequency cutting force dynamic simulation loading device |
| CN114199598B (en) * | 2021-11-19 | 2023-03-10 | 清华大学 | High-frequency cutting force dynamic simulation loading device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102175441B (en) | 2012-07-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102175441B (en) | Load simulator based on series-parallel mechanism | |
| CN102009414B (en) | Wrist device for three degree of freedom (TDOF) underactuated robot | |
| CN109176597B (en) | Exoskeleton powered knee joint structure | |
| EP2407767A1 (en) | Biaxial tensile testing machine | |
| CN103286792A (en) | Three-freedom-degree parallel robot wrists with aligning mechanisms | |
| KR101141719B1 (en) | Device and Method of Calibrating Torque Sensor for Robot Joint | |
| CN101780670B (en) | Two-rotation one-movement-freedom-degree decoupling parallel mechanism | |
| CN101491899A (en) | Five freedom-degree paralleled robot | |
| Knabe et al. | Design of a compact, lightweight, electromechanical linear series elastic actuator | |
| CN106891322A (en) | A kind of novel six freedom parallel connection platform | |
| CN104596752A (en) | Six-degree of freedom parallel mechanism loading system and method | |
| Knox et al. | A unidirectional series-elastic actuator design using a spiral torsion spring | |
| CN105910820A (en) | Detecting platform capable of simulating vibrating fault of harmonic reducer | |
| CN101695838A (en) | Four-DOF (degree of freedom) waist joint of humanoid robot | |
| CN102501243A (en) | Decoupling parallel robot mechanism with one rotational degree of freedom and two translational degrees of freedom | |
| CN106092563A (en) | Plane two degrees of freedom high frequency charger and test platform for ball screw assembly, | |
| CN102252813A (en) | Large heavy-duty vibration simulator having mechanical fault tolerance function | |
| CN104626108A (en) | Advanced multi-degree of freedom controllable mechanical arm | |
| Schütz et al. | RRLAB SEA—A highly integrated compliant actuator with minimised reflected inertia | |
| CN203438248U (en) | Bidirectional action type spring balancer | |
| CN102398264A (en) | Two-dimensional translational and two-dimensional rotary four-freedom parallel robot mechanism | |
| CN202399270U (en) | Controllable mechanism six-degree-of-freedom parallel robot platform | |
| Reinecke et al. | A robotic torso joint with adjustable linear spring mechanism for natural dynamic motions in a differential-elastic arrangement | |
| CN110524516B (en) | Redundant drive parallel mechanism containing redundant branched chain and closed-loop unit | |
| CN105397808B (en) | Linear series elastic driver based on compression springs |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20120725 Termination date: 20130128 |